System and method for position determination of objects

ABSTRACT

A method and a system for detection and position determination of chips, which transmit ultrasound signals in a room. The system comprises electronic identification chips, which are attached to objects that have to be monitored. Each chip is equipped with a transmitter and a receiver. The signals are received by a plurality of detector units, which are connected to a detector base unit that registers and interprets the signals transmitted form the identification chips. Detector base units located in different rooms are interconnected in a network and transmit processed information to one or more central units for further interpretation and sorting. The special feature of the invention is that line interference is substantially removed, and it is possible to determine position even though the identification chips are in motion.

This application is a continuation of U.S. patent application Ser. No.10/510,052, filed 1 Oct. 2004, which is hereby incorporated by referencein its entirety.

BACKGROUND OF THE INVENTION

1. Technical Field

The invention relates to a method and a system for surveillance andposition determination of objects and/or living beings within arestricted area, such as, e.g., a room in a building. The systemcomprises a plurality of electronic identification chips that areattached to the objects which have to be monitored. Each chip has itsown identification code (ID code) and is equipped with its ownultrasound transmitter and receiver. The system further comprises aplurality of detectors in each room for registering and interpreting thesignals transmitted from the chips. The detectors are interconnected ina network and transmit the information received to one or more centralunits also included in the system for further processing and sorting. Bymeans of the invention, line interference from electrical equipment,which may arise when the signals are transmitted from transmitter unitsto detectors, will be substantially removed, in addition to which it ispossible to determine position even though the identification chips arein motion.

2. Background Information

In hospitals and other places there may be a great deal of equipment andcase records which are constantly being relocated. A lot of time iswasted in finding the equipment. It is therefore expedient to have aflexible system that can determine the position of various units.

In areas where there is electronic equipment that is sensitive toelectromagnetic radiation, it is inadvisable to introduce new equipmentthat generates such radiation, such as a transceiver based on radiowaves. The measurements of the new equipment in turn will be influencedby the existing equipment.

Systems based on ultrasound will be suitable, since they will not beaffected by electromagnetic radiation and will have little effect on theenvironment.

A weakness of known systems based on ultrasound is that the results ofthe measurements will be influenced by noise sources such as fluorescenttubes and computer screens. This will detract from the quality of thereceived signals. Another shortcoming of known systems is that they willnot work when the chip transmitting the signals is in motion.

An object of the invention is to reduce the influence of noise sourcesto a minimum.

A second object is to perform position determination even though thechip whose position has to be determined is in motion.

There are various principles currently in use for localizing objectswithin a restricted area.

These include systems that employ ultrasound as signal carrier.WO-9955057, which is the applicant's own patent and of which the presentinvention is a further development, is an example of this. Thispublication describes the state of the art, and is incorporated hereinin its entirety as a reference. This system, like the present invention,is also intended for surveillance and position determination of objectswithin a restricted area by means of chips that transmit a specific IDcode in the form of ultrasound signals. The chips have continuoustransmission of signals at predetermined intervals, and compriseultrasound receivers as well as means for transmitting sound in theaudible range in order to issue a warning when an attempt is made toremove a chip. The code is not transmitted after an expected period orthe wrong code is transmitted. Stationary receiver units placed in eachdefined area are connected to a central control unit via a network andperform a two-way communication with the identification chips. In aspecial embodiment a specific chip can be called up from the centralcontrol unit. Calling signals are then transmitted from the stationaryreceiver units, and the chip with the correct ID replies. The receiverreceiving the strongest signal indicates in which defined area the chipis located.

As stated above, WO-9955057 concerns a system that can localize chips toa specific room. A weakness of the system is that it cannot determinethe position of chips in different parts of a room.

Other systems, including U.S. Pat. No. 6,317,386, are also known, whichemploy precise measurement of time delays between a transmitter andseveral receivers for detecting precise localization in the cm range.The drawback of these systems is that they require precise localizationof all the receivers in advance, complicated signal processing and theyonly work when there is an unobstructed view between transmitter andreceivers.

Another shortcoming of communication systems of the type based onultrasound is that they are sensitive to line noise from, for example,computer screens, TV monitors and electronic ballast circuits influorescent tubes. These may transmit a constant tone between 20 and 50kHz, and if the frequency is close enough to one of the frequenciesemployed in chips, it will create problems for detection or a seriousdegree of uncertainty in the measurements.

A problem with known solutions for detecting units that are transmittingultrasound signals arises when they are in motion. This prevents thesignals from being interpreted due to Doppler shift.

Another problem with the prior art arises when there are detectors inneighboring rooms where the doors are open. In this case severaldetectors can hear a signal from a chip. To obtain reliable positiondetermination is therefore no easy matter.

DISCLOSURE OF THE INVENTION

The present invention relates to a method and a system for surveillanceand position determination of objects in rooms. The object of theinvention is to improve the measurement of position in rooms withdifferent kinds of noise such as line interference, as well aspermitting measurements to be made even when the source transmitting thesignals is in motion.

In more specific terms, the system comprises electronic identificationchips or transmitter units for attaching to the objects that have to bemonitored. Each chip is equipped with a transmitter and a receiver. Thechips with the transmitter units transmit on several differentfrequencies. On the receiver side the system comprises a plurality ofdetectors which are connected to a detector base unit that registers andinterprets the signals transmitted from the identification chips.Detector base units in different rooms are interconnected in a networkand transmit signal-processed information to one or more central unitsfor further interpretation and sorting.

The system also permits a rough positioning to be performed within aroom. This is achieved by using several receivers. This positioning isrobust with regard to noise and reflections and easy and cost-effectiveto implement.

The method for providing a system according to the invention comprisesseveral features involving signal processing for reducing line noise toa minimum and for receiving valid data even though the chip is inmotion.

The object of the invention is achieved with a system and a method asdescribed in the set of claims, and which will now be described ingreater detail.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will furthermore be described with reference to thedrawings, in which:

FIG. 1 illustrates the construction of a transmitter unit that transmitssignals,

FIG. 2 illustrates the construction of a detector base element,

FIG. 3 illustrates the data flow from input to output in the detectorbase element, and

FIG. 4 illustrates how the whole system is interconnected in a network.

DETAILED DESCRIPTION OF THE INVENTION

The system according to the invention is constructed in such a mannerthat it should be influenced as little as possible by noise sources andshould correct for Doppler effect due to movement of the transmitterunits. There are several technical features of transmitter, receiver andcentral unit that contribute to this. In its entirety it represents asystem, which is well suited to environments with various noise sources,and which can be used even though the chips transmitting signals are inmotion.

FIG. 1 illustrates which units may normally be incorporated in eachtransmitter unit 100, also called a chip. Each chip 100 is a unit, whichmay contain a sabotage sensor 110, a timer 120, a motion detector 130,an identification chip 140, a battery monitor 150, a microcontroller160, a transmitter 170 and a receiver 180, and which transmitsultrasound waves by means of a transducer 190. The whole unit issupplied with power from a battery 155. The units are incorporated in achip 100, which is attached to the object that has to be monitored. Thechip or transmitter may contain all or only some of the units.

For transmitting signals the chip 100 contains a transmitter 170 and anultrasound transducer 190 adapted for transmitting signals with severaldifferent base frequencies, together with a control unit 160 forcontrolling the signal transmission. The chip 100 further comprisesmeans for determining whether other chips are transmitting signals atthe same time as the chip itself intends to conduct signal transmission,and for controlling transmission of the ultrasound signals so that thisonly takes place when no other transmitter units are transmittingsignals.

The chip 100 with transmitter unit 170 is furthermore adapted fortransmitting at least two, typically eight base frequencies in theultrasound range by means of FSK (Frequency Shift Keying).

In addition to the different base frequencies, the ultrasound transducer190 in the chip 100 is adapted to vary the base frequencies with risingand descending frequencies in the form of chirp FSK.

The control unit 160 in the chip is adapted to activate the ultrasoundtransducer 190 asynchronously according to preset time frames and/ordetection of motion. The control unit 160 is also adapted to activatethe ultrasound transducer 190 thus causing it to start transmittingsignals if an attempt is made to remove and/or open the chip 100.

The chips 100 should also respond to a call from a detector base element200 (DBas, FIG. 2) as well as listen to other chips, while thetransmitter's task is to transmit the ID code to the chip 100. This maybe implemented by an inquiry from the detector base element 200 atpredetermined intervals and/or when the object starts moving.

When a chip 100 transmits while it is in motion, the problem of Dopplershift arises. This means that the received frequency will be higher orlower than the transmitted frequency depending on whether the chip 100is moving in a direction towards or away from a detector unit 290 (FIG.2). By using FSK it is possible to calculate the magnitude of theDoppler shift and thereby the direction in which the chip 100 is movingrelative to the detector units 290. All the chips 100 transmit on thesame frequencies. Before each chip 100 transmits its ID, it listens inorder to see whether there are other chips 100 transmitting. If not, itwill immediately transmit its information. If there are other chips 100transmitting, it will wait for a specific period before trying again. Ifso desired, the chip 100 may also include a sabotage sensor 110, whichis activated when an attempt is made to remove it from the object towhich it is attached, or to open it.

In a preferred embodiment each chip 100 typically transmits eightdifferent frequencies in the ultrasound range by means of FSK. Inanother preferred embodiment each chip 100 transmits eight chirp FSKsignals. This is particularly relevant in areas with a lot of noise. Achirp signal is a signal with varying frequency. The simplest of theseis a linear FM chirp:S(t)=d ^(jΨ(t)) ,t−[O,T]

where the phase is:ψ(t)=πμ²+2πf ₀ t

Instantaneous frequency is the derivative of the phase and becomes:f=f _(o) +μt.

Typical values for chirp rate, A, are such that the chirp varies over afrequency range that is greater than the Doppler shift, but less thanthe distance between the frequencies. At f₀=40 kHz and velocity ±6 km/h,the Doppler shift is approximately ±200 Hz. In the chips, account istaken of the fact that the different frequencies are at intervalsbetween 700 and 1000 Hz. A typical chirp range may therefore be:μT=4-500 Hz.

FIG. 2 shows which units normally can be incorporated in each detectorbase unit 200 (DBas) located in a room. One or more detector units 290(DSat) that are independent of one another are placed in the room. Theyare connected to the detector base unit 200, which receives and samplesseveral fixed channels numbering at least two, but typically eight. Thesignals from the detector units 290 are fed to an interface 280 (DSatIF), and subsequently converted in an analog to digital converter 260(ADC). The coding used is based on frequency shift keying (FSK). Acircuit 230 for digital signal processing (DSP) processes the datastream and derives information by means of a method according to theinvention. This in turn is connected to a memory circuit 240 which isused for intermediate storage of the data before ready-processed dataare transmitted to a central unit 410 (FIG. 4) via an Ethernetcontroller 220 and an interface 210. Other controllers and interfacesmay be used if the system has to be set up with a different type ofnetwork, such as, for example, a wireless network or communication viathe power grid. The transducer 270, which is incorporated in thedetector base element 200, is used for transmitting signals and calls tothe various chips 100, and for receiving. The signals transmitted arecontrolled from a central unit 410 connected to the network.

The detector base unit 200 further comprises:

An A/D converter 260 for receiving and sampling several differentsignals,

means 230 for performing the following steps for processing the receiveddata:

analog to digital conversion of the sampled signals;

transmission to a memory 240 for intermediate storage of digitizedsignals;

categorization of the signals in frequency blocks for further processingwith Fourier transform for calculation of Doppler shift from theposition to the frequency block with the strongest signal;

use of line detector for detection of single-frequency noise sources onthe different signals for correcting and providing accepted data;

pattern comparison over all bits in order to determine a signature whichis characterizing for time and Doppler shift;

warning to a central unit 410 via a network interface 215 when asufficient volume of accepted data has been processed and is ready forfurther processing in the central unit 410, and

transmission of the data to the central unit 410.

FIG. 3 illustrates a flow chart of the signal processing that takesplace in different steps in the detector base unit. The detector baseunit 200 comprises an A/D converter 260 for receiving and samplingseveral different signals. The input on the A/D converter 260 is fedwith analog signals from the detector units 290 via an interface 280(step 300), and the received levels are subjected to a level estimate(step 310) and may be reinforced if they are below a minimum level. Acategorization is then performed of the signals into frequency blocksfor further processing with Fourier transform (step 320) for calculationof Doppler shift from the position to the frequency block with thestrongest signal. A line detector measures and evaluates line noise(step 330) that intrudes into each detector base unit 200, for detectionof single-frequency noise sources on the various signals, and forcorrecting and providing accepted data. If the line noise is above acertain level, a differentiation and filtering is performed (step 340)in order to exclude the unwanted signals. After this, a patterncomparison will be performed of the signals (step 350) in order todetermine a signature that is characterizing for time and Doppler shift.The resulting and filtered signals are now ready to be transmitted viathe network for further processing in a central unit 410 (FIG. 4). Thecentral unit 410 is warned via a network 215 when a sufficient volume ofaccepted data has been processed and is ready for further processing.The data are then transmitted to the central unit 410 for furtherprocessing.

As already mentioned, in areas with a great deal of noise it may be anadvantage for the chips 100 to transmit signals in the form of chirpFSK. The system is designed for this. When the chips transmit chirp FSKsignals, the detector base unit 200 employs fractional Fourier transform(step 320, FIG. 3) in the signal processing. In detecting chirp FSKsignals, the detector first performs a de-chirping of the receivedsignals, followed by frequency analysis (FFT, pattern recognition,thresholding, etc.). Each block of data, x[n], n=0, . . . ,N-1, firsthas to be multiplied by a complex de-chirp, where the centre frequencyis already included in the FFT calculation, i.e. a chirp withphase—πμt². The de-chirp is set up so that it has the 0 phase in themiddle of the block. Constant frequencies will then be scatteredoutwards in frequency, while the chirp signals that match the de-chirprate will be collected. This algorithm can also be formulated as afractional Fourier transform. This method will reduce noise withconstant frequencies to a minimum.

FIG. 4 provides an overview of the whole system 400 according to theinvention. The figure illustrates the interplay between chips 100,detectors 200, 290 and a central unit 410 in the form of a PC whichcoordinates all received data. Several client terminals 420 may beconnected to the system in order to gain access to information fromdifferent locations.

For position determination of at least one transmitter unit in roomswith various kinds of noise such as line interference, the systemcomprises:

at least one transmitter unit 100 with one ultrasound transducer 190 fortransmitting signals on several different frequencies, at least twodetector units 290 for detecting ultrasound signals,

at least one detector base unit 200 for signal processing connected tothe detector units 290,

a network 215 that interconnects several detector base units 200, plus

at least one central unit 410 for acquisition and interpretation ofprocessed data from detector base units 200 via the network connection215, and where the data volume transmitted from the detector base units200 to the central unit(s) 410 is reduced to a minimum since signalnoise and non-essential signal components are substantially removed fromthe signals by means of signal processing in the detector unit 200before transmission of the signals to the central unit(s) 410, plus

processing means in the central unit(s) 410 for determining the positionof a transmitter unit 100.

As already mentioned, the signal strength received by each of thedetector units 290 will determine which detector unit 290 is closest tothe chip 100 that is transmitting the signals, and the position of thechip 100 that is transmitting its ID can thereby be determined. Toenable this to take place, the system must be calibrated in such amanner that the position of all the detector units 290 located in thesame room is determined in relation to the geometry in the room. Theresult of this calibration is input as parameters in the central unit(s)410 for calculating the position of a chip in relation to which detectorunits 290 receive the strongest signal.

The method according to the invention for determining the position ofone or more transmitter units or chips 100 in rooms with various noisesources such as line interference comprises:

transmitting from the chip 100 ultrasound signals with several differentfrequencies,

sampling the signals in a detector base unit 200 received fromtransducer 270 and at least one detector unit 290, and furthermoreperforming the following steps for processing the received data:

analog to digital conversion of the sampled signals;

intermediate storage of sampled and accumulated values;

categorization of resulting data from the signals in frequency blocksfor further processing with Fourier transform for calculation of Dopplershift based on the position of the frequency block with the strongestsignal;

differentiating filtering as a function of time for reduction ofsingle-frequency noise sources on the different signals, in order toobtain accepted data;

pattern comparison over all bits in order to determine a signature whichis characterizing for time and Doppler shift;

warning to a central unit 410 via a network interface 215 when asufficient volume of accepted data has been processed in the detectorbase unit(s) 200 and is ready for further processing in the central unit410;

transmission of the data to the central unit 410, and

comparison of received signal parameters in the central unit 410 fromseveral detector units 290 in a room for determining the position ofchips 100 in the room.

A typical example of how the system works in practice will now bedescribed. When an operator of a central unit 410 or a client terminal420 wishes to know the location of a specific object tagged by a chip100, the operator will perform an action on his central unit 410 orterminal 420 which initiates a search in the database of the lastmessages received from the chip.

The chip 100 has initiated a transmission routine in advance. Asmentioned previously, this involves listening to other chips 100 inorder to see whether any others are currently transmitting signals. Ifso, the chip 100 will wait for a predetermined period. If no other chips100 are transmitting, the chip concerned 100 starts transmittingsignals. The detector base unit 200 intercepts these. The analog signalsreceived by the various detector units 290 and the transducer 270 aretransmitted to the input of the A/D converter 260 in the detector baseunit 200. The signal processing according to the invention will then beinitiated, and the resulting data stream at the output of the detectorbase unit 200 is transmitted via the network 215 to the central unit(s)410 or terminal(s) 420 which first initiated the call. Here the data arefurther interpreted, thus enabling the position of the object to whichthe chip 100 is attached to be determined.

The system 400, which is described in its entirety above, is flexibleand simple to construct. By increasing the number of detector units 290in the same room, the accuracy of the position determination willincrease. Maintenance, expansion and upgrading will be easy, since thesystem 400 is controlled and administered from a central control unit,such as, for example, a PC in a network or, for example, a PDA in awireless network.

The main features according to the invention are that the system canfind the position of objects even though they are in motion and in areaswith various kinds of line noise. The system is therefore both flexibleand cost-effective.

1. A method comprising the steps of: transmitting from a transmitterunit an FSK-encoded acoustic signal comprising an identification code;receiving the signal in a receiver unit; and performing a patterncomparison of the received signal to determine a signature that ischaracterizing for time and Doppler shift.
 2. A method as in claim 1further comprising steps of: categorizing the received signal into aplurality of frequency blocks to produce a categorized signal; andprocessing the categorized signal using a Fourier transform.
 3. A methodas in claim 2 further comprising the step of: calculating the magnitudeof the Doppler shift of the received signal.
 4. A method as in claim 3comprising: identifying one of said plurality of frequency blocks ashaving the strongest signal; and calculating said magnitude of theDoppler shift for said identified one of the frequency blocks.
 5. Amethod as in claim 1 further comprising the steps of: using a linedetector to detect a single-frequency noise source; and correcting forsaid detected noise source when processing the received signal.
 6. Amethod as in claim 1 wherein the FSK-encoded signal is a chirp FSKsignal.
 7. A method as in claim 6 further comprising the step of:applying a fractional Fourier transform to the received signal.
 8. Amethod as in claim 1 wherein the least interval between adjacent tonesof said FSK-encoded signal is greater than the range of possible Dopplershifts due to relative movement between said transmitter unit and saidreceiver unit up to a predetermined maximum speed.
 9. A method as inclaim 1 comprising determining the position of said transmitter unit.10. A system comprising: a transmitter unit arranged to transmit anFSK-encoded acoustic signal comprising an identification code; and areceiver unit arranged to perform a pattern comparison of a receivedsignal to determine a signature that is characterizing for time andDoppler shift.
 11. A system as in claim 10 wherein the receiver unitcomprises logic adapted to: categorize the received signal into aplurality of frequency to produce a categorized signal; and process thecategorized signal using a Fourier transform.
 12. A system as in claim11 wherein the receiver unit comprises logic adapted to: calculate themagnitude of the Doppler shift of the received signal.
 13. A system asin claim 12 wherein the received unit comprises logic adapted to:identify one of said plurality of frequency blocks as having thestrongest signal; and calculate said magnitude of the Doppler shift forsaid identified one of the frequency blocks.
 14. A system as in claim 10further comprising a line detector adapted to detect a single-frequencynoise source, wherein the receiver unit comprises logic adapted tocorrect for said detected noise source when processing the receivedsignal.
 15. A system as in claim 10 wherein the FSK-encoded signal is achirp FSK signal.
 16. A system as in claim 15 wherein the receiver unitcomprises logic adapted to: apply a fractional Fourier transform to thereceived signal.
 17. A system as in claim 10 wherein the least intervalbetween adjacent tones of said FSK-encoded signal is greater than thedifference between the maximum positive and negative Doppler shiftspossible due to relative movement of the transmitter unit towards andaway from, respectively, said receiver unit at a predetermined maximumspeed.
 18. A system as in claim 10 comprising logic adapted to determinethe position of said transmitter unit.
 19. A receiver comprising logicadapted to perform a pattern comparison of a received FSK-encodedacoustic signal to determine a signature that is characterizing for timeand Doppler shift.
 20. A receiver as in claim 19 comprising logicadapted to: categorize the received signal into a plurality of frequencyblocks to produce a categorized signal; and process the categorizedsignal using a Fourier transform.
 21. A receiver as in claim 20comprising logic adapted to: calculate the magnitude of the Dopplershift of the received signal.
 22. A receiver as in claim 21 comprisinglogic adapted to: identify one of said plurality of frequency blocks ashaving the strongest signal; and calculate said magnitude of the Dopplershift for said identified one of the frequency block.
 23. A receiver asin claim 19 comprising logic adapted to correct for a single-frequencynoise source.
 24. A receiver as in claim 19 wherein the FSK-encodedsignal is a chirp FSK signal.
 25. A receiver as in claim 24 comprisinglogic adapted to: apply a fractional Fourier transform to the receivedsignal.
 26. A receiver as in claim 19 comprising logic adapted todetermine the position of a transmitter unit from which said receivedsignal was transmitted.
 27. A method of determining the position of atransmitter unit comprising the steps of: transmitting from thetransmitter unit an FSK-encoded acoustic signal; receiving said signalat a first detector unit; receiving said signal at a second detectorunit connected to the first detector unit by a network; comparing thesignal strength received by the first detector with that received by thesecond detector; and determining from said comparison an estimate of theposition of the transmitter unit.
 28. A method of determining thelocation of an acoustic transmitter unit in an environment containingline noise comprising the steps of: measuring and evaluating line noisewith a line noise detector; receiving an acoustic signal from thetransmitter unit; selectively filtering unwanted signals detected by theline noise detector; and determining the location of the acoustictransmitter from said received signal.
 29. A method as in claim 28comprising performing the step of selectively filtering unwanted signalsonly if the line noise is above a predetermined level.
 30. A method ofdetermining the position of a transmitter unit in a room comprising thestep of: transmitting from the transmitter unit an FSK-encoded acousticsignal comprising at least one chirped tone.
 31. A method as in claim 30wherein the chirp is a linear chirp.
 32. A method as in claim 30 whereinthe acoustic signal comprises only chirped tones.
 33. A method as inclaim 30 wherein the frequency range of the broadest chirp is notgreater than the least interval between adjacent tones of the FSKencoding scheme.
 34. A method as in claim 30 wherein the frequency rangeof the chirp is greater than the largest Doppler shift possible due to apredetermined maximum relative speed of movement between the transmitterunit and a receiver unit.
 35. A method as in claim 30 wherein thefrequency range of the chirp is greater than the difference between themaximum positive and negative Doppler shifts caused by a relative speedof movement of 6 km/hr of the transmitter unit towards and away from,respectively, a receiver unit.
 36. A method as in claim 30 comprisingthe further steps of: receiving said signal in a receive unit; andde-chirping the received signal.
 37. A method as in claim 36 whereinsaid de-chirping step comprises applying a fractional Fourier transformto the received signal.
 38. A method as in claim 36 wherein saidde-chirping step comprises the steps of: splitting the received signalinto frequency blocks; multiplying each block by a respective complexde-chirp signal; and applying a fast Fourier transform to the de-chirpedblocks.
 39. A method as in claim 30 wherein the de-chirp has a phasevalue of zero at the centre frequency of the block.
 40. A method as inclaim 30 wherein the signal comprises an ID unique to the transmitterunit.
 41. A method as in claim 30 wherein the acoustic signal is anultrasound signal.